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HAPTIC TECHNOLOGY

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HAPTIC TECHNOLOGY
A touch revolution

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for more:- www.PPTSworld.com ABSTRACT Engineering as it finds its wide range of application in every field not an exception even the medical field. One of the technologies which aid the surgeons to perform even the most complicated surgeries successfully is Virtual Reality. Even though virtual reality is employed to carry out operations the surgeon's attention is one of the most important parameter. If he commits any mistakes it may lead to a dangerous end. So one may think of a technology that reduces the !urdens of a surgeon !y providing an efficient interaction to the surgeon than VR. "ow our dream came to reality !y means of a technology called #$%&'I( TECHNOLOGY. $aptic is the science of applying tactile sensation to hu an inte!action "ith co pute!s# In our paper we have discussed the !asic concepts !ehind haptic along with the haptic devices and how these devices are interacted to produce sense of touch and force feed!ack mechanisms. %lso the implementation of this mechanism !y means of haptic rendering and contact detection were discussed. )e mainly focus on %pplication of Haptic Technology in Su!gical Si ulation an$ %e$ical T!aining&# *urther we explained the storage and retrieval of haptic data while working with haptic devices. %lso the necessity of haptic data compression is illustrated. Haptic Technology 'nt!o$uction( $aptic is the term derived from the +reek word haptesthai) which means *to touch+# $aptic is defined as the science of applying tactile sensation to hu an inte!action "ith co pute!s# It ena!les a manual interaction with real virtual and remote environment. $aptic permits users to sense ,#feel-. and manipulate three/dimensional virtual o!0ects with respect to such features as shape weight surface textures and temperature. % Haptic ,e-ice is one that involves physical contact !etween the computer and the user. 1y using $aptic devices the user can not only feed information to the computer !ut can receive information from the computer in the form of a felt sensation on some part of the !ody. 'his is referred to as a Haptic inte!face# In our paper we explain the !asic concepts of *Haptic Technology an$ its Application in Su!gical Si ulation an$ %e$ical T!aining&# Haptic ,e-ices( .o!ce fee$/ac0 is the area of haptics that deals with $e-ices that interact with the muscles and tendons that give the human a sensation of a force !eing applied/hardware and software that stimulates humans' sense of touch and feel through tactile vi!rations or force feed!ack. 'hese devices mainly consist of ro!otic manipulators that push !ack against a user with the forces that for more:- www.PPTSworld.com

for more:- www.PPTSworld.com correspond to the environment that the virtual effector's is in. 'actile feed!ack makes use of devices that interact with the nerve endings in the skin to indicate heat pressure and texture. 'hese devices typically have !een used to indicate whether or not the user is in contact with a virtual o!0ect. Other tactile feed!ack devices have !een used to stimulate the texture of a virtual o!0ect. 1HANTo% an$ Cy/e!G!asp are some of the examples of $aptic 2evices. 1HANTO%( % small ro!ot arm with three revolute 0oints each connected to a computer/controlled electric 2( motor. 'he tip of the device is attached to a stylus that is held !y the user. 1y sending appropriate voltages to the motors it is possi!le to exert up to 3.4 pounds of force at the tip of the stylus in any direction. CYBER GRAS1( 'he (y!er +love is a lightweight glove with flexi!le sensors that accurately measure the position and movement of the fingers and wrist. 'he (y!er+rasp from Immersion (orporation is an exoskeleton device that fits over a 55 2O* (y!er +love providing force feed!ack. 'he (y!er+rasp is used in con0unction with a position tracker to measure the position and orientation of the fore arm in three/ dimensional space.

Haptic Ren$e!ing( It is a process of applying forces to the user through a force/feed!ack device. 6sing haptic rendering we can ena!le a user to touch feel and manipulate virtual o!0ects. Enhance a user's experience in virtual environment. $aptic rendering is p!ocess of $isplaying synthetically gene!ate$ 2,34, haptic sti uli to the use!# 'he haptic interface acts as a two/port system terminated on one side !y the human operator and on the other side !y the virtual environment. Contact ,etection( % fundamental pro!lem in haptics is to detect contact !etween the virtual o!0ects and the haptic device ,a &$%"'o7 a glove etc... Once this contact is relia!ly detected a force corresponding to the interaction physics is generated and rendered

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for more:- www.PPTSworld.com using the pro!e. 'his process usually runs in a tight servo loop within a haptic rendering system. %nother techni8ue for contact detection is to generate the su!face contact point ,S(&. which is the closest point on the surface to the actual tip of the pro!e. 'he force generation can then happen as though the pro!e were physically at this location rather than within the o!0ect. Existing methods in the literature generate the S(& !y using the notion of a god/o!0ect which forces the S(& to lie on the surface of the virtual o!0ect. A11L'CAT'ONS O. HA1T'C TECHNOLOGY( $aptic 'echnology as it finds it wide range of %pplications some among them were mentioned !elow9 : Surgical simulation ; 7edical training. : &hysical reha!ilitation. : 'raining and education. : 7useum display. : &ainting sculpting and (%2 : Scientific Visuali<ation. : 7ilitary application. : Entertainment. 'he role of $aptic 'echnology in Su!gical Si T!aining i s discussed in detail !elow. S5RG'CAL S'%5LAT'ON AN, %E,'CAL TRA'N'NG( $aptic is usually classified as9/ Hu Co an haptics( human touch perception and manipulation. pute! haptics( concerned with computer mediated. %achine haptics( concerned with ro!ot arms and hands. % primary application area for haptics has !een in surgical simulation and medical training. $aptic rendering algorithms detect collisions !etween surgical instruments and virtual organs and render organ force responses to users through haptic interface devices. *or the purpose of haptic rendering we've conceptually divided minimally invasive surgical tools into two generic groups !ased on their functions. 3. Long) thin) st!aight p!o/es for palpating or puncturing the tissue and for in0ection ,puncture and in0ection needles and palpation pro!es. ulation an$ %e$ical

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for more:- www.PPTSworld.com 5. A!ticulate$ tools for pulling clamping gripping and cutting soft tissues % =2 computer model of an instrument from each group ,a pro!e from the first group and a forceps from the second. and their !ehavior in a virtual environment is shown. 2uring real/time simulations the =2 surface models of the pro!e and forceps is used to provide the user with realistic visual cues. *or the purposes of haptic rendering of tool/ tissue interactions a ray/!ased rendering in which the pro!e and forceps are modeled as connected line segments. >7odeling haptic interactions !etween a pro!e and o!0ects using this line/o!0ect collision detection and response has several advantages over existing point !ased techni8ues in which only the tip point of a haptic device is considered for touch interactions'. +rouping of surgical instruments for simulating tool/tissue interactions. G!oup A includes long thin straight pro!es. G!oup B includes tools for pulling clamping and cutting soft tissue. : 6sers feel tor8ues if a proper haptic device is used. *or example the user can feel the coupling moments generated !y the contact forces at the instrument tip and forces at the trocar pivot point. : 6sers can detect side collisions !etween the simulated tool and =2 models of organs. : 6sers can feel multiple layers of tissue if the ray representing the simulated surgical pro!e is virtually extended to detect collisions with an organ's internal layers. 'his is especially useful !ecause soft tissues are typically layered each layer has different material properties and the forces?tor8ues reflected to the user depends on the laparoscopic tool's orientation. : 6sers can touch and feel multiple o!0ects simultaneously. 1ecause laparoscopic instruments are typically long slender structures and interact with multiple o!0ects ,organs !lood vessels surrounding tissue and so on. during a 7IS ,7inimally Invasive Surgery. ray/ !ased rendering provides a more natural way than a purely point/ !ased rendering of tool/tissue interactions. 'o simulate haptic interactions !etween surgical material held !y a laparoscopic tool ,for example a catheter needle or suture. and a deforma!le !ody ,such as an organ or vessel. a com!ination of point/ and ray/!ased haptic rendering methods are used. In case of a catheter insertion task shown a!ove the surgical tools using line segments and the catheter using a set of points uniformly distri!uted along the catheter's center line and connected with springs and dampers. 6sing our point !ased haptic rendering method@ the collisions !etween the flexi!le catheter

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for more:- www.PPTSworld.com and the inner surface of a flexi!le vessel are detected to compute interaction forces. 'he concept of distri!uted particles can !e used in haptic rendering of organ/organ interactions ,whereas a single point is insufficient for simulating organ/organ interactions a group of points distri!uted around the contact region can !e used. and other minimally invasive procedures such as !ronchoscope and colonoscopy involving the insertion of a flexi!le material into a tu!ular !ody . ,efo! a/le o/6ects( One of the most important components of computer !ased surgical simulation and training systems is the development of realistic organ/force models. % good organ/force model must reflect sta!le forces to a user display smooth deformations handle various !oundary conditions and constraints and show physics/!ased realistic !ehavior in real time. %lthough the computer graphics community has developed sophisticated models for real/time simulation of deforma!le o!0ects integrating tissue properties into these models has !een difficult. 2eveloping real/time and realistic organ/force models is challenging !ecause of viscoelasticity anisotropy nonlinearity rate and time dependence in material properties of organs. In addition soft organ tissues are layered and non homogeneous. 'ool/tissue interactions generate dynamical effects and cause nonlinear contact interactions of one organ with the others which are 8uite difficult to simulate in real time. *urthermore simulating surgical operations such as cutting and coagulation re8uires fre8uently updating the organ geometric data!ase and can cause force singularities in the physics/!ased model at the !oundaries. 'here are currently two main approaches for developing force/reflecting organ models9 : &article7/ase$ : *inite7ele ent etho$s# etho$s 8.E%9#

In particle/!ased models an organ's nodes are connected to each other with springs and dampers. Each node ,or particle) is represented !y its own position velocity and acceleration and moves under the influence of forces applied !y the surgical instrument. In finite/element modeling the geometric model of an organ is divided into surface or volumetric elements properties of each element are formulated and the elements are assem!led together to compute the deformation states of the organ for the forces applied !y the surgical instruments. Captu!e) Sto!age) an$ Ret!ie-al of Haptic ,ata( 'he newest area in haptic is the search for optimal methods for the description storage and retrieval of moving/sensor data of the type generated !y hap tic devices. 'his techni8ues captures the hand or finger movement

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for more:- www.PPTSworld.com of an expert performing a skilled movement and #play it !ack - so that a novice can retrace the expert's path with realistic touch sensation@ 'he I"SI'E system is capa!le of providing instantaneous comparison of two users with respect to duration speed acceleration and thum! and finger forces. 'echni8ues for recording and playing !ack raw haptic data have !een developed for the &hantom and (y!er +rasp. (aptured data include movement in three dimensions orientation and force ,contact !etween the pro!e and o!0ects in the virtual environment.. Haptic ,ata Co p!ession( $aptic data compression and evaluation of the perceptual impact of lossy compression of haptic data are further examples of uncharted waters in haptics research. 2ata a!out the user's interaction with o!0ects in the virtual environment must !e continually refreshed if they are manipulated or deformed !y user input. If data are too !ulky relative to availa!le !andwidth and computational resources there will !e improper registration !etween what the user sees on screen and what he #feels.- On analy<ing data o!tained experimentally from the &$%"'o7 and the (y!er+rasp exploring compression techni8ues starting with simple approaches ,similar to those used in speech coding. and continuing with methods that are more specific to the haptic data. One of two lossy methods to compress the data may !e employed9 One approach is to use a lower sampling rate@ the other is to note small changes during movement. *or example for certain grasp motions not all of the fingers are involved. *urther during the approaching and departing phase tracker data may !e more useful than the (y!er+rasp data. Vector coding may prove to !e more appropriate to encode the time evolution of a multi/featured set of data such as that provided !y the (y!er+rasp. *or cases where the user employs the haptic device to manipulate a static o!0ect compression techni8ues that rely on knowledge of the o!0ect may !e more useful than the coding of an ar!itrary tra0ectory in three/dimensional space. CONCL5S'ON( )e finally conclude that $aptic 'echnology is the only solution which provides high range of interaction that cannot !e provided !y 17I or virtual reality. )hatever the technology we can employ touch access is important till now. 1ut haptic technology has totally changed this trend. )e are sure that this technology will make the future world as a sensi!le one. RE*ERE"(ES9
))).$O)S'6**)ORAS.(O7 ))).B6%"SER.(O7

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